#-------------------------------------------------
#
# Project created by QtCreator 2016-12-09T08:31:16
#
#-------------------------------------------------
DEFINES  += D_USE_UI
#机器人和AGV切换只需切换D_USE_ROS GlobalManager.pro
#（算法切换AxisObject.pro MoionPackages.pro MotionServer.pro LogicalInstruction.pro中的D_USE_ROS）
# 切换ROS需要重新编译MotionServer.pro
#DEFINES  += D_USE_ROS

#DEFINES  += D_USE_ICP//作废
#DEFINES  += D_USE_VISION_MATCH//作废
#DEFINES  += D_USE_AMCL_ADVANCE//作废
#DEFINES  += D_USE_INTERNAL_LASER_DRIVER//作废
#DEFINES  += D_USE_LASER_ODOMETRY//作废

#DEFINES += D_USE_CANOPEN  #如果定义，使用canopen　设备

#DEFINES+=D_FOR_ROBOT_CONTROL
DEFINES+=D_FOR_AGV_CONTROL

QT += core  xml network gui widgets serialport websockets serialbus

contains( DEFINES, D_USE_UI ){
message('TcrControllerByLib use ui')
greaterThan(QT_MAJOR_VERSION, 4)
DEFINES += D_USE_UI
SOURCES += mainwindow.cpp
HEADERS += mainwindow.h
FORMS   += mainwindow.ui


}else{
QT      -= gui
#mac
CONFIG  -= app_bundle
}

CONFIG  -= console
TEMPLATE = app

contains( DEFINES, D_FOR_ROBOT_CONTROL ){
TARGET = FundationControllerM
}else{
TARGET = agvBaseControl
}

HEADERS += \
    ../../include/MacroDefine/GeneralDefine.h \
    filebackupmanagedlg.h \
    ../../include/MacroDefine/globalDefine.h \
    ../../include/MacroDefine/pathdefine.h\
    ../../include/instructionEnum.h\
    ../../include/instructionstruct.h\
    ../../include/MacroDefine/instructionstruct.h \
    ../../include/MacroDefine/instructionEnum.h

SOURCES += main.cpp \
    filebackupmanagedlg.cpp


INCLUDEPATH += ../../include/vehicle
INCLUDEPATH += ../../include/
INCLUDEPATH += ../../include/MacroDefine
INCLUDEPATH += /usr/local/include/modbus/
INCLUDEPATH +=../JoyStickFunction
INCLUDEPATH +=../WebSocketServer
INCLUDEPATH +=../EcatCore
INCLUDEPATH +=../ProgramSet
INCLUDEPATH +=../LogicalInstruction
INCLUDEPATH +=../DomParser
INCLUDEPATH +=../Md5Check
INCLUDEPATH +=../HmiGsoapQt
INCLUDEPATH +=../VrepRemoteControlor
INCLUDEPATH +=../WebServer
INCLUDEPATH +=../PointData
INCLUDEPATH +=../MessageLog
INCLUDEPATH +=../TcpManager
INCLUDEPATH +=../SocketFleetAdapter
INCLUDEPATH +=../FleetService
INCLUDEPATH +=../RegData
INCLUDEPATH +=../MeasureTime
INCLUDEPATH +=../RobotManager
INCLUDEPATH +=../RobotEngine
INCLUDEPATH += ../GlobalManager
INCLUDEPATH += ../RobotiqTool
INCLUDEPATH += ../PowerManager
INCLUDEPATH += ../WebServer/echoserver
INCLUDEPATH += ../EcatTestForm
INCLUDEPATH += ../RosCom
INCLUDEPATH += ../MotionServer/TestUi
INCLUDEPATH +=../MotionServer
INCLUDEPATH +=../CoordinateModule/
INCLUDEPATH +=../AxisObject/
INCLUDEPATH +=../UltrasonicSensor
INCLUDEPATH +=../LaserCalculate
INCLUDEPATH +=../ProgramLanguageTranslate
INCLUDEPATH +=../PathPlanManager
INCLUDEPATH +=../mapStructData
INCLUDEPATH += /usr/local/include/kdl
DEPENDPATH += ../../include/kdl
INCLUDEPATH += ../../include/actions/INC
INCLUDEPATH += ../../include/actions/INC/Linux
INCLUDEPATH += ../../include/ethercat-igh
INCLUDEPATH += ../XmlParse
INCLUDEPATH += ../WatchDog
INCLUDEPATH += ../SafetyFunction
INCLUDEPATH +=../VehicleControl
INCLUDEPATH +=../ModbusService


FORMS += \
    filebackupmanagedlg.ui



＃DEFINES += BUILD_ARM
DEFINES += BUILD_X86_LINUX
#DEFINES += BUILD_X86_WINDOWS #为什么其它库pro也要定义这个才起作用。


contains( DEFINES, BUILD_X86_WINDOWS ){
message("project use BUILD_X86_WINDOWS !")
}
contains( DEFINES, BUILD_X86_LINUX ){
message("project use BUILD_X86_LINUX !")

}
contains( DEFINES, BUILD_ARM ){
message("project use BUILD_ARM !")
}



contains( DEFINES, BUILD_X86_WINDOWS ){
message("project use BUILD_X86_WINDOWS !")
DESTDIR =../../bin/x86_WINDOWS
#编译中间文件目录
UI_DIR += ../../build/tmpBuildDirectory_windows
MOC_DIR +=../../build/tmpBuildDirectory_windows
OBJECTS_DIR += ../../build/tmpBuildDirectory_windows
RCC_DIR += ../../build/tmpBuildDirectory_windows
}
################################BUILD_X86_LINUX#############################
contains( DEFINES, BUILD_X86_LINUX ){
message("project use BUILD_X86_LINUX !")
DESTDIR =../../bin


LIBS += -L../../lib -lEcatCore
contains( DEFINES, D_USE_CANOPEN ){
message('TcrControllerByLib use CANOPEN')
LIBS += -L../../lib -lEcatCanbusCom
#LIBS += ../../lib/libEcatCanbusCom.a
LIBS += -L../../lib -lCanbusDevice
}
LIBS += -L../../lib -lEcatModbusCom
#LIBS += -L../../lib -lEcatAcontis
LIBS += -L../../lib -lEcatIgh
LIBS += -L../../lib -lEcatVrep
#LIBS += -L../../lib -lWebServer
LIBS += -L../../lib -lHmiGsoapQt
LIBS += -L../../lib -lWebSocketServer
LIBS += -L../../lib -lPowerManager
LIBS += -L../../lib -lJoyStickFunction

LIBS += -L../../lib -lGlobalManager
LIBS += -L../../lib -lRobotManager
LIBS += -L../../lib -lRobotEngine

LIBS += -L../../lib -lFleetService
contains( DEFINES, D_USE_ROS ){
LIBS += -L../../lib -lPathPlanManager
LIBS += -L../../lib -lmapStructData
LIBS += -L../../lib -lCppSqlite3
LIBS += -lsqlite3
LIBS += -lboost_system
}

LIBS += -L../../lib -lProgramEngine
LIBS += -L../../lib -lLaserCameraAdapter
LIBS += -L../../lib -lLogicalInstruction
LIBS += -L../../lib -lLogicalAgvInstruction
LIBS += -L../../lib -lExtensitionLogicInstruction
LIBS += -L../../lib -lProgramSet
LIBS += -L../../lib -lProgramLanguageTranslate
LIBS += -L../../lib -lMotionServer
LIBS += -L../../lib -lMathLicenseManager

LIBS += -L../../lib -lPositionRegulator
LIBS += -L../../lib -lAxisObject
LIBS += -L../../lib -lBeltTrackManager
LIBS += -L../../lib -lCoordinateModule
LIBS += -L../../lib -lCameraCalibrateAlgorithm
LIBS += -L../../lib -lDeltaKinematicsHua
LIBS += -L../../lib -lCu1PositionModule
LIBS += -L../../lib -lPalletCalculate

LIBS += -L../../lib -lVrepRemoteControlor
LIBS += -L../../lib -lRegData
LIBS += -L../../lib -lPointData
LIBS += -L../../lib -lMd5Check
LIBS += -L../../lib -lDomParser
LIBS += -L../../lib -lXmlParse
LIBS += -L../../lib -lRobotiqTool
LIBS += -L../../lib -lMeasureTime
LIBS += -L../../lib -lMessageLog
LIBS += -L../../lib -lTestForm
LIBS += -L../../lib -lTcpManager
LIBS += -L../../lib -lSocketFleetAdapter
LIBS += -L../../lib -lCarvingModule
LIBS += -L../../lib -lWaveControl
LIBS += -L../../lib -lAxisSimpleTp

#LIBS += -L../../lib/actions/LIB/Linux/x64 -lEcMaster
#LIBS += -L../../lib/actions/LIB/Linux/x64 -lAtemRasSrv
#LIBS += -L../../lib/actions/LIB/Linux/x64 -lemllCCAT
#LIBS += -L../../lib/actions/LIB/Linux/x64 -lemllI8254x
#LIBS += -L../../lib/actions/LIB/Linux/x64 -lemllSockRaw
LIBS += -L../../lib/controlcan -lcontrolcan

LIBS += -lpthread -lm -ldl -lrt
LIBS += -L../../lib/ethercat-igh/r8169 -lethercat
LIBS += -L../../lib -lXmlParse
LIBS += -L../../lib -lWatchDog
LIBS += -L../../lib -lSafetyFunction
LIBS += -L../../lib -lUltrasonicSensor
LIBS += -L../../lib -lBatteryMonitor
LIBS += -L../../lib -lMaganeticSensor
LIBS += -L../../lib -lRfidSensor
LIBS += -L../../lib -lModbusDevice
LIBS += -L../../lib/modbus -lmodbus

LIBS += -L../../lib -lVehicleControl
LIBS += -L../../lib -lImuDevice
LIBS += -L../../lib -lPidRegulator
LIBS +=  -L../../lib/kdl  -lorocos-kdl

contains( DEFINES, D_USE_ROS ){
message('TcrControllerByLib use ROS')
LIBS += -L../../lib -lRosApi
LIBS += -L../../lib/yaml -lyaml-cpp
LIBS += -ljsoncpp
}

#D_USE_INTERNAL_LASER_DRIVER
contains( DEFINES, D_USE_ROS ){
message('TcrControllerByLib use D_USE_INTERNAL_LASER_DRIVER')
LIBS += -L../../lib -lLaserDriverSickTim
LIBS += -L../../lib -lLaserDriverSickLms
LIBS += -L../../lib -lLaserDriverKeli
#LIBS += -L../../lib -lLaserDriverBeiyang
LIBS += -L../../lib -lLaserDriverAbstract

}
#D_USE_AMCL_ADVANCE
contains( DEFINES, D_USE_ROS ){
message('TcrControllerByLib use D_USE_AMCL_ADVANCE')
LIBS += -L../../lib -lAmclAdvance

}
#D_USE_LASER_ODOMETRY
contains( DEFINES, D_USE_ROS ){
message('TcrControllerByLib use D_USE_LASER_ODOMETRY')
LIBS += -L../../lib -lLaserOdometry

#LIBS+= -L/usr/lib/x86_64-linux-gnu/ -lmrpt-obs
#LIBS+= -L/usr/lib/x86_64-linux-gnu/ -lmrpt-base
#LIBS+= -L/usr/lib/x86_64-linux-gnu/ -lmrpt-opengl
LIBS+= /usr/lib/x86_64-linux-gnu/libmrpt-obs.so
LIBS+= /usr/lib/x86_64-linux-gnu/libmrpt-base.so
LIBS+= /usr/lib/x86_64-linux-gnu/libmrpt-opengl.so

}

contains( DEFINES, D_USE_ROS ){
message('TcrControllerByLib use ROS')

INCLUDEPATH+=/opt/ros/kinetic/include
INCLUDEPATH+=/home/tcr/tcr100_ws/devel/include
INCLUDEPATH +=../HmiGsoapQt
INCLUDEPATH +=../RosApi

LIBS += -L../../lib -lLaserCalculate
LIBS+= /usr/lib/x86_64-linux-gnu/libboost_thread.so
LIBS+= /usr/lib/x86_64-linux-gnu/libboost_system.so

LIBS +=-L/opt/ros/kinetic/lib/ -ldynamic_reconfigure_config_init_mutex \
        -lroslib \
        -lrosconsole \
        -lroscpp \
        -lxmlrpcpp \
        -lrospack \
        -lrostime \
        -ltf \
        -ltf2 \
        -ltf2_ros \
        -lserial \
        -lroscpp_serialization \
        -lactionlib \
        -lrosbag \
        -lrosbag_storage \
        -lroslz4 \
        -lmessage_filters \
        -lrosconsole_backend_interface \
        -lrosconsole_bridge \
        -lrosconsole_log4cxx \
        -lcpp_common\
        -lurg_c_wrapper\
        -lopen_urg_sensor\
        -lliburg_c\
        -llaser_proc_ROS\
        -llaser_proc_library\
        -llaser_transport\
        -llaser_publisher


LIBS +=/usr/local/lib/x86_64-linux-gnu/libuvc.so
LIBS +=/usr/lib/x86_64-linux-gnu/libusb-1.0.so
LIBS +=/usr/lib/x86_64-linux-gnu/libconsole_bridge.so
#LIBS +=-L/usr/local/lib/x86_64-linux-gnu -luvc
#LIBS +=-L/usr/lib/x86_64-linux-gnu -lusb

}

#D_USE_ICP
contains( DEFINES, D_USE_ICP ){
message('TcrControllerByLib use D_USE_ICP')
LIBS += -L../../lib -lPclIcp
#---------for pcl
LIBS +=-L/usr/local/lib/ -lpcl_kdtree \
        -lpcl_io \
        -lpcl_search \
        -lpcl_features \
        -lpcl_common \
        -lpcl_io_ply \
        -lpcl_surface \
        -lpcl_common \
        -lpcl_registration \
        -lpcl_features\
        -lpcl_filters\
        -lpcl_visualization

#---------for vtk

LIBS +=-L/usr/local/lib/vtk-5.10 -lvtkCommon \
        -lvtkCharts \
        -lvtkWidgets   \
        -lvtkHybrid   \
        -lvtkRendering   \
        -lvtkImaging   \
        -lvtkGraphics   \
        -lvtkIO   \
        -lvtkFiltering   \
        -lvtkViews   \
        -lvtkInfovis   \
        -lvtkVolumeRendering   \
        -lvtkexoIIc   \
        -lvtksys \
        -lvtkftgl   \
        -lvtkfreetype   \
        -lvtkverdict   \
        -lvtkDICOMParser   \
        -lvtkNetCDF_cxx   \
        -lvtkzlib   \
        -lvtkjpeg   \
        -lvtklibxml2   \
        -lvtkalglib   \
        -lvtkhdf5_hl   \
        -lvtkhdf5 \
        -lvtkFiltering \
        -lvtkDICOMParser   \
        -lvtkNetCDF_cxx   \
        -lvtkmetaio   \
        -lvtksqlite   \
        -lvtkpng   \
        -lvtktiff   \
        -lvtkexpat   \
        -lvtksys   \
        -lvtkzlib   \
        -lvtkjpeg \
        -lvtkNetCDF
}

#D_USE_VISION_MATCH
contains( DEFINES, D_USE_ROS ){
message('TcrControllerByLib use D_USE_VISION_MATCH')
LIBS += -L../../lib -lVisionMatch

#LIBS += /usr/local/lib/libopencv_highgui.so \
#        /usr/local/lib/libopencv_core.so    \
#        /usr/local/lib/libopencv_imgproc.so \
#        /usr/local/lib/libopencv_nonfree.so \
#        /usr/local/lib/libopencv_features2d.so\
#        /usr/local/lib/libopencv_flann.so\
#        /usr/local/lib/libopencv_calib3d.so
}

LIBS += -L../../../lib -lModbusService
LIBS += -L../../lib -lKalmanFilter


#编译中间文件目录
UI_DIR += ../../build/tmpBuildDirectory
MOC_DIR +=../../build/tmpBuildDirectory
OBJECTS_DIR += ../../build/tmpBuildDirectory
RCC_DIR += ../../build/tmpBuildDirectory
}

##############################BUILD_ARM start###########################
contains( DEFINES, BUILD_ARM ){
message("project use BUILD_ARM !")
DESTDIR =../../bin-arm


LIBS += -L../../lib-arm -lEcatCore
contains( DEFINES, D_USE_CANOPEN ){
message('TcrControllerByLib use CANOPEN')
LIBS += -L../../lib-arm -lEcatCanbusCom
#LIBS += ../../lib-arm/libEcatCanbusCom.a
LIBS += -L../../lib-arm -lCanbusDevice
}
LIBS += -L../../lib-arm -lEcatModbusCom
#LIBS += -L../../lib-arm -lEcatAcontis
LIBS += -L../../lib-arm -lEcatIgh
LIBS += -L../../lib-arm -lEcatVrep
#LIBS += -L../../lib-arm -lWebServer
LIBS += -L../../lib-arm -lHmiGsoapQt
LIBS += -L../../lib-arm -lWebSocketServer
LIBS += -L../../lib-arm -lPowerManager
LIBS += -L../../lib-arm -lJoyStickFunction

LIBS += -L../../lib-arm -lGlobalManager
LIBS += -L../../lib-arm -lRobotManager
LIBS += -L../../lib-arm -lRobotEngine

LIBS += -L../../lib-arm -lFleetService
contains( DEFINES, D_USE_ROS ){
LIBS += -L../../lib-arm -lPathPlanManager
LIBS += -L../../lib-arm -lmapStructData
LIBS += -L../../lib-arm -lCppSqlite3
LIBS += -lsqlite3
LIBS += -lboost_system
}

LIBS += -L../../lib-arm -lProgramEngine
LIBS += -L../../lib-arm -lLaserCameraAdapter
LIBS += -L../../lib-arm -lLogicalInstruction
LIBS += -L../../lib-arm -lLogicalAgvInstruction
LIBS += -L../../lib-arm -lExtensitionLogicInstruction
LIBS += -L../../lib-arm -lProgramSet
LIBS += -L../../lib-arm -lProgramLanguageTranslate
LIBS += -L../../lib-arm -lMotionServer
LIBS += -L../../lib-arm -lMathLicenseManager

LIBS += -L../../lib-arm -lPositionRegulator
LIBS += -L../../lib-arm -lAxisObject
LIBS += -L../../lib-arm -lBeltTrackManager
LIBS += -L../../lib-arm -lCoordinateModule
LIBS += -L../../lib-arm -lCameraCalibrateAlgorithm
LIBS += -L../../lib-arm -lDeltaKinematicsHua
LIBS += -L../../lib-arm -lCu1PositionModule
LIBS += -L../../lib-arm -lPalletCalculate

LIBS += -L../../lib-arm -lVrepRemoteControlor
LIBS += -L../../lib-arm -lRegData
LIBS += -L../../lib-arm -lPointData
LIBS += -L../../lib-arm -lMd5Check
LIBS += -L../../lib-arm -lDomParser
LIBS += -L../../lib-arm -lXmlParse
LIBS += -L../../lib-arm -lRobotiqTool
LIBS += -L../../lib-arm -lMeasureTime
LIBS += -L../../lib-arm -lMessageLog
LIBS += -L../../lib-arm -lTestForm
LIBS += -L../../lib-arm -lTcpManager
LIBS += -L../../lib-arm -lSocketFleetAdapter
LIBS += -L../../lib-arm -lCarvingModule
LIBS += -L../../lib-arm -lWaveControl
LIBS += -L../../lib-arm -lAxisSimpleTp

#LIBS += -L../../lib-arm/actions/LIB/Linux/x64 -lEcMaster
#LIBS += -L../../lib-arm/actions/LIB/Linux/x64 -lAtemRasSrv
#LIBS += -L../../lib-arm/actions/LIB/Linux/x64 -lemllCCAT
#LIBS += -L../../lib-arm/actions/LIB/Linux/x64 -lemllI8254x
#LIBS += -L../../lib-arm/actions/LIB/Linux/x64 -lemllSockRaw
#LIBS += -L../../lib-arm/controlcan -lcontrolcan

LIBS += -lpthread -lm -ldl -lrt
LIBS += -L../../lib-arm/ethercat-igh -lethercat
LIBS += -L../../lib-arm -lXmlParse
LIBS += -L../../lib-arm -lWatchDog
LIBS += -L../../lib-arm -lSafetyFunction
LIBS += -L../../lib-arm -lUltrasonicSensor
LIBS += -L../../lib-arm -lBatteryMonitor
LIBS += -L../../lib-arm -lMaganeticSensor
LIBS += -L../../lib-arm -lRfidSensor
LIBS += -L../../lib-arm -lModbusDevice
LIBS += -L../../lib-arm/modbus -lmodbus

LIBS += -L../../lib-arm -lVehicleControl
LIBS += -L../../lib-arm -lImuDevice
LIBS += -L../../lib-arm -lPidRegulator
LIBS +=  -L../../lib-arm/kdl  -lorocos-kdl

contains( DEFINES, D_USE_ROS ){
message('TcrControllerByLib use ROS')
LIBS += -L../../lib-arm -lRosApi
LIBS += -L../../lib-arm/yaml -lyaml-cpp
LIBS += -ljsoncpp
}

#D_USE_INTERNAL_LASER_DRIVER
contains( DEFINES, D_USE_ROS ){
message('TcrControllerByLib use D_USE_INTERNAL_LASER_DRIVER')
LIBS += -L../../lib-arm -lLaserDriverSickTim
LIBS += -L../../lib-arm -lLaserDriverSickLms
LIBS += -L../../lib-arm -lLaserDriverKeli
#LIBS += -L../../lib-arm -lLaserDriverBeiyang
LIBS += -L../../lib-arm -lLaserDriverAbstract

}
#D_USE_AMCL_ADVANCE
contains( DEFINES, D_USE_ROS ){
message('TcrControllerByLib use D_USE_AMCL_ADVANCE')
LIBS += -L../../lib-arm -lAmclAdvance

}
#D_USE_LASER_ODOMETRY
contains( DEFINES, D_USE_ROS ){
message('TcrControllerByLib use D_USE_LASER_ODOMETRY')
LIBS += -L../../lib-arm -lLaserOdometry

#LIBS+= -L/usr/lib/x86_64-linux-gnu/ -lmrpt-obs
#LIBS+= -L/usr/lib/x86_64-linux-gnu/ -lmrpt-base
#LIBS+= -L/usr/lib/x86_64-linux-gnu/ -lmrpt-opengl
LIBS+= /usr/lib/x86_64-linux-gnu/libmrpt-obs.so
LIBS+= /usr/lib/x86_64-linux-gnu/libmrpt-base.so
LIBS+= /usr/lib/x86_64-linux-gnu/libmrpt-opengl.so

}

contains( DEFINES, D_USE_ROS ){
message('TcrControllerByLib use ROS')

INCLUDEPATH+=/opt/ros/kinetic/include
INCLUDEPATH+=/home/tcr/tcr100_ws/devel/include
INCLUDEPATH +=../HmiGsoapQt
INCLUDEPATH +=../RosApi

LIBS += -L../../lib-arm -lLaserCalculate
LIBS+= /usr/lib/x86_64-linux-gnu/libboost_thread.so
LIBS+= /usr/lib/x86_64-linux-gnu/libboost_system.so

LIBS +=-L/opt/ros/kinetic/lib/ -ldynamic_reconfigure_config_init_mutex \
        -lroslib \
        -lrosconsole \
        -lroscpp \
        -lxmlrpcpp \
        -lrospack \
        -lrostime \
        -ltf \
        -ltf2 \
        -ltf2_ros \
        -lserial \
        -lroscpp_serialization \
        -lactionlib \
        -lrosbag \
        -lrosbag_storage \
        -lroslz4 \
        -lmessage_filters \
        -lrosconsole_backend_interface \
        -lrosconsole_bridge \
        -lrosconsole_log4cxx \
        -lcpp_common\
        -lurg_c_wrapper\
        -lopen_urg_sensor\
        -lliburg_c\
        -llaser_proc_ROS\
        -llaser_proc_library\
        -llaser_transport\
        -llaser_publisher


LIBS +=/usr/local/lib/x86_64-linux-gnu/libuvc.so
LIBS +=/usr/lib/x86_64-linux-gnu/libusb-1.0.so
LIBS +=/usr/lib/x86_64-linux-gnu/libconsole_bridge.so
#LIBS +=-L/usr/local/lib/x86_64-linux-gnu -luvc
#LIBS +=-L/usr/lib/x86_64-linux-gnu -lusb

}

#D_USE_ICP
contains( DEFINES, D_USE_ICP ){
message('TcrControllerByLib use D_USE_ICP')
LIBS += -L../../lib-arm -lPclIcp
#---------for pcl
LIBS +=-L/usr/local/lib/ -lpcl_kdtree \
        -lpcl_io \
        -lpcl_search \
        -lpcl_features \
        -lpcl_common \
        -lpcl_io_ply \
        -lpcl_surface \
        -lpcl_common \
        -lpcl_registration \
        -lpcl_features\
        -lpcl_filters\
        -lpcl_visualization

#---------for vtk

LIBS +=-L/usr/local/lib/vtk-5.10 -lvtkCommon \
        -lvtkCharts \
        -lvtkWidgets   \
        -lvtkHybrid   \
        -lvtkRendering   \
        -lvtkImaging   \
        -lvtkGraphics   \
        -lvtkIO   \
        -lvtkFiltering   \
        -lvtkViews   \
        -lvtkInfovis   \
        -lvtkVolumeRendering   \
        -lvtkexoIIc   \
        -lvtksys \
        -lvtkftgl   \
        -lvtkfreetype   \
        -lvtkverdict   \
        -lvtkDICOMParser   \
        -lvtkNetCDF_cxx   \
        -lvtkzlib   \
        -lvtkjpeg   \
        -lvtklibxml2   \
        -lvtkalglib   \
        -lvtkhdf5_hl   \
        -lvtkhdf5 \
        -lvtkFiltering \
        -lvtkDICOMParser   \
        -lvtkNetCDF_cxx   \
        -lvtkmetaio   \
        -lvtksqlite   \
        -lvtkpng   \
        -lvtktiff   \
        -lvtkexpat   \
        -lvtksys   \
        -lvtkzlib   \
        -lvtkjpeg \
        -lvtkNetCDF
}

#D_USE_VISION_MATCH
contains( DEFINES, D_USE_ROS ){
message('TcrControllerByLib use D_USE_VISION_MATCH')
LIBS += -L../../lib-arm -lVisionMatch

#LIBS += /usr/local/lib/libopencv_highgui.so \
#        /usr/local/lib/libopencv_core.so    \
#        /usr/local/lib/libopencv_imgproc.so \
#        /usr/local/lib/libopencv_nonfree.so \
#        /usr/local/lib/libopencv_features2d.so\
#        /usr/local/lib/libopencv_flann.so\
#        /usr/local/lib/libopencv_calib3d.so
}

LIBS += -L../../../lib-arm -lModbusService
LIBS += -L../../lib-arm -lKalmanFilter


#编译中间文件目录
UI_DIR += ../../build/tmpBuildDirectory_arm
MOC_DIR +=../../build/tmpBuildDirectory_arm
OBJECTS_DIR += ../../build/tmpBuildDirectory_arm
RCC_DIR += ../../build/tmpBuildDirectory_arm
}


